Method and system for panorama stitching of trailer images

1. A method for panorama stitching of trailer images suitable for a first on-board device disposed within a carriage of a trailer comprises: receiving a first image data sent by a camera disposed on the left of the carriage, a second image data sent by a camera disposed on the right of the carriage, and a third image data sent by a camera disposed at the back of the carriage in real time; respectively analyzing the first image data, the second image data and the third image data utilizing an openCV algorithm, to obtain intrinsic parameters, extrinsic parameters and distortion parameters of the cameras; respectively correcting the first image data, the second image data and the third image data according to the distortion parameters and a linear interpolation algorithm, to generate a fourth image data, a fifth image data and a sixth image data; establishing a world coordinate system and an image coordinate system according to the intrinsic parameters and the extrinsic parameters, performing projection transformation on the world coordinate system and the image coordinate system, to obtain perspective transformation parameters; respectively performing perspective transformation on the fourth image data, the fifth image data and the sixth image data according to the perspective transformation parameters, to generate a seventh image data, an eighth image data and a ninth image data; respectively acquiring feature points of the seventh image data, the eighth image data and the ninth image data utilizing a scale invariant algorithm to obtain a set of feature points, and stitching the first image data, the second image data and the third image data according to the set of feature points to generate a first stitched image, wherein the first stitched image is a 270° holographic image; after encoding the first stitched image utilizing an H.264 algorithm, sending the first stitched image to a second on-board device disposed at the tractor of the trailer.

2. The method for panorama stitching according to claim 1 ; also comprising: receiving carriage motion direction data sent by a first angular velocity sensor disposed within the carriage of the trailer in real time and sending the carriage motion data to a second on-board device disposed at the tractor of the trailer, wherein the carriage motion data comprises motion direction, velocity and location of the carriage.

3. A method for panorama stitching of trailer images suitable for a second on-board device disposed at a tractor of a trailer comprising: receiving a tenth image data sent by a camera disposed on the left of the tractor, an eleventh image data sent by a camera disposed on the right of the tractor, and a twelfth image data sent by a camera disposed at the front of the tractor in real time; respectively analyzing the tenth image data, the eleventh image data and the twelfth image data utilizing an openCV algorithm, to obtain intrinsic parameters, extrinsic parameters and distortion parameters of the cameras; respectively correcting the tenth image data, the eleventh image data, and the twelfth image data according to the distortion parameters and a linear interpolation algorithm, to generate a thirteenth image data, a fourteenth image data, and a fifteenth image data; establishing a world coordinate system and an image coordinate system according to the intrinsic parameters and the extrinsic parameters, performing projection transformation on the world coordinate system and the image coordinate system, to obtain perspective transformation parameters; respectively performing perspective transformation on the thirteenth image data, the fourteenth image data and the fifteenth image data according to the perspective transformation parameters, to generate a sixteenth image data, a seventeenth image data, and an eighteenth image data; respectively acquiring feature points of the sixteenth image data, the seventeenth image data and the eighteenth image data utilizing a scale invariant algorithm to obtain a set of feature points, stitching the sixteenth image data, the seventeenth image data and the eighteenth image data according to the set of feature points to generate a second stitched image, wherein the second stitched image is a 270° holographic image; receiving a first stitched image sent by a first on-board device disposed within the carriage of the trailer and decoding the first stitched image utilizing an H.264 algorithm; performing fusion for the first stitched image and the second stitched image utilizing an image fusion technology to generate a 360° panorama image; and displaying the 360° panorama image utilizing an openGL ES texture mapping technology.

4. The method for panorama stitching according to claim 3 also comprising: receiving carriage motion data sent by the first on-board device and tractor motion data sent by a second angular velocity sensor disposed within the tractor of the trailer in real time, wherein the tractor motion data comprises motion direction, velocity and location of the tractor; and calculating an angle between the tractor and the carriage in real time according to the carriage motion direction data and the tractor motion direction data to generate an angular difference data.

5. The method for panorama stitching according to claim 4 also comprising: stitching and performing fusion for the angular difference data, the first stitched image and the second stitched image utilizing an image fusion technology to generate a 360 ° panorama image.

6. A system for panorama stitching of trailer images suitable for a first on-board device disposed within a carriage of a trailer comprising: a first receiving module for receiving a first image data sent by a camera disposed on the left of the carriage, a second image data sent by a camera disposed on the right of the carriage, and a third image data sent by a camera disposed at the back of the carriage in real time; a first analysis module for respectively analyzing the first image data, the second image data and the third image data utilizing an opencv algorithm, to obtain intrinsic parameters, extrinsic parameters and distortion parameters of the cameras; a first correction module for respectively correcting the first image data, the second image data and the third image data according to the distortion parameters and a linear interpolation algorithm, to generate a fourth image data, a fifth image data and a sixth image data; a first establishment module for establishing a world coordinate system and an image coordinate system according to the intrinsic parameters and the extrinsic parameters, performing projection transformation on the world coordinate system and the image coordinate system to obtain perspective transformation parameters; a first transformation module for respectively performing perspective transformation on the fourth image data, the fifth image data and the sixth image data according to the perspective transformation parameters, to generate a seventh image data, an eighth image data and a ninth image data; a first stitch module for respectively acquiring feature points of the seventh image data, the eighth image data and the ninth image data utilizing a scale invariant algorithm to obtain a set of feature points, and stitching the first image data, the second image data and the third image data according to the set of feature points to generate a first stitched image, wherein the first stitched image is a 270° holographic image; and a sending module for sending the first stitched image to a second on-board device disposed at a tractor of the trailer after encoding the first stitched image utilizing an H.264 algorithm.

7. The system for panorama stitching according to claim 6 , wherein the first receiving module is also for: receiving carriage motion direction data sent by a first angular velocity sensor disposed within the carriage of the trailer in real time and sending the carriage motion data to a second on-board device disposed at the tractor of the trailer, wherein the carriage motion data comprises motion direction, velocity and location of the carriage.

8. A system for panorama stitching of trailer images suitable for a second on-board device disposed at a tractor of a trailer comprising: a second receiving module for receiving a tenth image data sent by a camera disposed on the left of the tractor, an eleventh image data sent by a camera disposed on the right of the tractor, and a twelfth image data sent by a camera disposed at the front of the tractor in real time; a second analysis module for respectively analyzing the tenth image data, the eleventh image data and the twelfth image data utilizing an openCV algorithm, to obtain intrinsic parameters, extrinsic parameters and distortion parameters of the cameras; a second correction module for respectively correcting the tenth image data, the eleventh image data and the twelfth image data according to the distortion parameters and a linear interpolation algorithm, to generate a thirteenth image data, a fourteenth image data and a fifteenth image data; a second establishment module for establishing a world coordinate system and an image coordinate system according to the intrinsic parameters and the extrinsic parameters, performing projection transformation on the world coordinate system and the image coordinate system to obtain perspective transformation parameters; a second transformation module for respectively performing perspective transformation on the thirteenth image data, the fourteenth image data and the fifteenth image data according to the perspective transformation parameters, to generate a sixteenth image data, a seventeenth image data and an eighteenth image data; a second stitch module for respectively acquiring feature points of the sixteenth image data, the seventeenth image data and the eighteenth image data utilizing a scale invariant algorithm to obtain a set of feature points, stitching the sixteenth image data, the seventeenth image data and the eighteenth image data according to the set of feature points to generate a second stitched image, wherein the second stitched image is a 270° holographic image; the second receiving module is also for receiving a first stitched image sent by a first on-board device disposed within the carriage of the trailer and decoding the first stitched image utilizing an H.264 algorithm; a fusion module for stitching and performing fusion for the first stitched image and the second stitched image utilizing an image fusion technology to generate a 360° panorama image; and a display module for displaying the 360° panorama image utilizing an openGL ES texture mapping technology.

9. The system for panorama stitching according to claim 8 , wherein the second receiving module is also for: receiving carriage motion data sent by the first on-board device and tractor motion data sent by a second angular velocity sensor disposed within the tractor of the trailer in real time, wherein the tractor motion data comprises motion direction, velocity and location of the tractor; and calculating an angle between the tractor and the carriage in real time according to the carriage motion direction data and the tractor motion direction data to generate an angular difference data.

10. The system for panorama stitching according to claim 9 , wherein the fusion module is also for: performing fusion for the angular difference data, the first stitched image and the second stitched image utilizing an image fusion technology to generate a 360° panorama image.